skbot.ignition.FrustumProjection

class skbot.ignition.FrustumProjection(hfov, image_shape)[source]

Frustum based intrinsic camera transformation

This links behavior is identical to skbot.transform.FrustumProjection; however, here the camera points along the x-axis instead of the z-axis. This is done to match the behavior of ignition, which applies the robotic coordinate frame standard instead of the computer vision standard here.

Parameters
hfovfloat

The angle of the viewing frustum in radians. It is assumed to be less than pi (180°).

image_shapeArrayLike

The shape (height, width) of the image plane in pixels.

Notes

This function assumes that hfov is less than pi (180°).

Points outside the viewing frustum will still be projected; however, their values lie outside the applicable pixel range.

__init__(hfov, image_shape)[source]

Methods

__init__(hfov, image_shape)

invert()

Returns a new link that is the inverse of this link.

transform(x)

Expresses the vector x (assumed to be given in the parent's frame) in the child's frame.